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Ambient Assisted Living (AAL) solutions are aimed to assist the elderly in their independent and safe living. During the last decade, the AAL field has witnessed a significant development due to advancements in Information and Communication Technologies, Ubiquitous Computing and Internet of Things. However, a closer look at the existing AAL solutions shows that these improvements are used mostly to deliver one or a few functions mainly of the same type (e.g. health monitoring functions). There are comparatively fewer initiatives that integrate different kinds of AAL functionalities, such as fall detection, reminders, fire alarms, etc., besides health monitoring, into a common framework, with intelligent decision-making that can thereby offer enhanced reasoning by combining multiple events.    To address this shortage, in this thesis, we propose two different categories of AAL architecture frameworks onto which different functionalities, chosen based on user preferences, can be integrated. One of them follows a centralized approach, using an intelligent Decision Support System (DSS), and the other, follows a truly distributed approach, involving multiple intelligent agents. The centralized architecture is our initial choice, due to its ease of development by combining multiple functionalities with a centralized DSS that can assess the dependency between multiple events in real time. While easy to develop, our centralized solution suffers from the well-known single point of failure, which we remove by adding a redundant DSS. Nevertheless, the scalability, flexibility, multiple user accesses, and potential self-healing capability of the centralized solution are hard to achieve, therefore we also propose a distributed, agent-based architecture as a second solution, to provide the community with two different AAL solutions that can be applied depending on needs and available resources. Both solutions are to be used in safety-critical applications, therefore their design-time assurance, that is, providing a guarantee that they meet functional requirements and deliver the needed quality-of-service, is beneficial.    Our first solution is a generic architecture that follows the design of many commercial AAL solutions with sensors, a data collector, DSS, security and privacy, database (DB) systems, user interfaces (UI), and cloud computing support. We represent this architecture in the Architecture Analysis and Design Language (AADL) via a set of component patterns that we propose. The advantage of using patterns is that they are easily re-usable when building specific AAL architectures. Our patterns describe the behavior of the components in the Behavioral Annex of AADL, and the error behavior in AADL's Error Annex. We also show various instantiations of our generic model that can be developed based on user requirements. To formally assure these solutions against functional, timing and reliability requirements, we show how we can employ exhaustive model checking using the state-of-art model checker, UPPAAL, and also statistical model-checking techniques with UPPAAL SMC, an extension of the UPPAAL model checker for stochastic systems, which can be employed in cases when exhaustive verification does not scale. The second proposed architecture is an agent-based architecture for AAL systems, where agents are intelligent entities capable of communicating with each other in order to decide on an action to take. Therefore, the decision support is now distributed among agents and can be used by multiple users distributed across multiple locations. Due to the fact that this solution requires describing agents and their interaction, the existing core AADL does not suffice as an architectural framework. Hence, we propose an extension to the core AADL language - The Agent Annex, with formal semantics as Stochastic Transition Systems, which allows us to specify probabilistic, non-deterministic and real-time AAL system behaviors. In order to formally assure our multi-agent system, we employ the state-of-art probabilistic model checker PRISM, which allows us to perform probabilistic yet exhaustive verification.   As a final contribution, we also present a small-scale validation of an architecture of the first category, with end users from three countries (Romania, Poland, Denmark). This work has been carried out with partners from the mentioned countries.    Our work in this thesis paves the way towards the development of user-centered, intelligent ambient assisted living solutions with ensured quality of service.

Modern technology requires reliable, fast, and cheap networks as a backbone for the data transmission. Among many available solutions, switched Ethernet combined with Time Sensitive Networking (TSN) standard excels because it provides high bandwidth and real-time characteristics by utilizing low-cost hardware. For the industry to acknowledge this technology, extensive performance studies need to be conducted, and this thesis provides one. Concretely, the thesis examines the performance of two amendments IEEE 802.1Qbv and IEEE 802.1Qbu that are recently appended to the TSN standard. The academic community understands the potential of this technology, so several simulation frameworks already exist, but most of them are unstable and undertested. This thesis builds on top of existent frameworks and utilizes the framework developed in OMNeT++. Performance is analyzed through several segregated scenarios and is measured in terms of end-to-end transmission latency and link utilization. Attained results justify the industry interest in this technology and could lead to its greater representation in the future.

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The cars used by Zenuity for prototyping software for autonomous driving (AD) needs a convenient way for the driver to activate and deactivate AD functionality. Since the cars were equipped with shifting paddles, repurposing them to act as AD activation paddles had become a compelling option. The goal of this thesis was to design an electronic control unit (ECU) to read the analog value of each paddle and transmit them digitally to an industry PC already implemented in the vehicle. In order to improve the human to machine interface, the paddle ECU also had to control two different LED indicators to show the status of the AD system to the driver as different color codes. A prototype of the ECU has been built on a PCB (printed circuit board) that consists of a microcontroller and hardware for it to interface with paddles, indicators and for communication with the industry PC. The prototype was tested and the resulting ECU has been shown to work successfully, fulfilling all the requirements. In particular it can correctly read the status of each paddle, control the indicators, as well as communicate with the industry PC.

<p>The use of radar and camera for situation awareness is gaining popularity in automotivesafety applications. In this thesis situation awareness consists of accurate estimates of theego vehicle’s motion, the position of the other vehicles and the road geometry. By fusinginformation from different types of sensors, such as radar, camera and inertial sensor, theaccuracy and robustness of those estimates can be increased.</p><p>Sensor fusion is the process of using information from several different sensors tocompute an estimate of the state of a dynamic system, that in some sense is better thanit would be if the sensors were used individually. Furthermore, the resulting estimate isin some cases only obtainable through the use of data from different types of sensors. Asystematic approach to handle sensor fusion problems is provided by model based stateestimation theory. The systems discussed in this thesis are primarily dynamic and they aremodeled using state space models. A measurement model is used to describe the relationbetween the state variables and the measurements from the different sensors. Within thestate estimation framework a process model is used to describe how the state variablespropagate in time. These two models are of major importance for the resulting stateestimate and are therefore given much attention in this thesis. One example of a processmodel is the single track vehicle model, which is used to model the ego vehicle’s motion.In this thesis it is shown how the estimate of the road geometry obtained directly from thecamera information can be improved by fusing it with the estimates of the other vehicles’positions on the road and the estimate of the radius of the ego vehicle’s currently drivenpath.</p><p>The positions of stationary objects, such as guardrails, lampposts and delineators aremeasured by the radar. These measurements can be used to estimate the border of theroad. Three conceptually different methods to represent and derive the road borders arepresented in this thesis. Occupancy grid mapping discretizes the map surrounding theego vehicle and the probability of occupancy is estimated for each grid cell. The secondmethod applies a constrained quadratic program in order to estimate the road borders,which are represented by two polynomials. The third method associates the radar measurementsto extended stationary objects and tracks them as extended targets.</p><p>The approaches presented in this thesis have all been evaluated on real data from bothfreeways and rural roads in Sweden.</p> / IVSS - SEFS

<p>This master thesis has been conducted at Sandvik Svedala. The thesis is the first step towards a new construction of a hydraulic system for a Hydrocone crusher. First we studied how contaminations entered the system of today. Then the work began with designing several concepts to control the crusher. These basic concepts were presented to Sandvik and the one was chosen for further development was fine tuned and a system was built. This system was tested at a test rig to verify that the basic ideas were working. This test pointed out the disadvantages of the system, and the improvements needed to become a future industrial solution.</p>

In this thesis we investigate the problem of automatic calibration and control of hydraulic components in the domain of construction equipment. Methods that are able to remove a costly manual approach in favour of an automatic one are investigated and evaluated. The thesis aims to investigate what methods are available in achieving this goal as well as evaluate the performance and applicability of such methods in the domain of construction equipment. The literature indicates that a great focus is put on learning a model of the plant at run time in order to provide accurate control. Common approaches to the problem are the Recursive Least Square method and PID controllers for non-linear systems, but other methods are also present, such as the Nodal Link Perceptron Network (NLPN). The methods chosen to be compared are the existing method of manually calibrating two set points for start and end current and interpolating between them; the use of a PI controller with a static line inverse model; a PI controller with a static curve inverse model; a PI controller with an NLPN adaptive inverse model and lastly, a completely NLPN based control strategy. The methods were implemented in Matlab Simulink and evaluated in simulations based on data collected from real wheel loaders in the construction equipment domain, produced by Volvo CE. The simulations are performed on data from three machines and were evaluated twice for the adaptive methods in order to evaluate how well the methods improved. The results were then evaluated in terms of average absolute error, as well as a discussion of the behaviour shown in the plots. The evaluations indicate that the most effective method for control is the PI controller using a static line inverse model. The method produces the smallest average error of both actions evaluated, lifting and lowering of the boom, while the complete NLPN solution provide the worst results.

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Surveillance and control have come a long way in the last years. Every new mobile phone, most cars, and smartwatches have a global positioning system tracking device built into it. This is just one of the technologies used in order to track and follow. Today it is hard to go anywhere without there being some sort of way of finding you. The art of finding has been around for a long time and one company that have taken the tracking aspect to the next step is Followit. For over 40 years they have built different types of satellite and radio transmitters to keep track of everything from small animals like hares and dogs to big elephants. They also got tracking solutions for vehicles like boats, cars, trucks and excavators. The purpose of this thesis is to develop a radio transmitter which can transmit on both the very-high-frequency and ultra-high-frequency band which is better than the last unit used by Followit. While the current solution being the same the last 20 years, a new product will improve in almost every way. Studies by Followit suggest that a new version can save up to 30% energy than the last one. This will result in a longer lifetime for the product. Going away from component selection to achieve the desired sending frequency to have a version that can be adjusted directly in a computer program is also desired. By using this advanced radio sending on two bands at the same time can be accomplished, before only one frequency was available at each board. Inclusion of an inertial measurement unit and real-time clock makes this a more advanced and versatile product. The thesis includes a first printed circuit board prototype and one final design which is ready to produce by the production team. To ensure that the development process proceeds as planned in following steps, thorough testing is done both in hardware and in software. Further programming is left for the developers at hand. The results of this work is a four-layer circuit board that is 25x15 mm in size and holds components on both sides. All but one component is tested and works as intended on the board. The system is programmed to run a simple code which tests the different systems and components. To test the wireless radio transmissions a small radio pulse is sent out which can be captured by a receiver. A first simple casing is done to enclose both the circuit board and battery as a complete system. / Övervakning och spårning har kommit långt på senare tid. De flesta nya bilar, telefoner och smarta klockor har en inbyggd spårningsenhet. Detta är bara en av flera olika tekniker som används för att övervaka och spåra. Idag är det svårt att gå någonstans utan att det finns något sätt att följa dig. Konsten att spåra är något som funnits under en länge tid och ett företag som har tagit denna teknik till nästa steg är Followit. I över 40 år har de byggt olika typer av sattelit- och radiosändare för att spåra allt mellan små djur som harar och hundar till elefanter. De har även spårningsutrustning till en rad fordon som bilar, båtar, lastbilar och grävmaskiner. Syftet med denna rapport är att utveckla en radiosändare som kan sända på både VHF och UHF bandet vilket är bättre än den tidigare enheten som används av Followit. Medan den nuvarande produkten har varit densamma de senaste 20 åren, kommer den nya produkten att förbättras på nästan alla punkter. Studier genomförda av Followit visar att en ny version kan spara upp till 30% energi jämfört med den förra. Detta kommer att resultera i en längre livslängd för produkten. Det är även önskvärt att gå bort från komponentval för att uppnå önskad sändningsfrekvens för att få en version som istället kan justeras direkt i ett datorprogram. Genom att använda denna avancerade radiomodul kan data sändas på två frekvensband samtidigt. Föregående produkt kunde endast skicka på en frekvens åt gången. Inkluderingen av en accelerometer och realtidsklocka gör detta till en mer avancerad och mångsidig produkt. Rapporten innehåller en första mönsterkortsprototyp och en slutlig design som är redo att produceras. För att säkerställa att utvecklingsprocessen framskrider som planerat i efterkommande steg, görs grundlig testning både i hård- och mjukvara. Ytterligare programmering lämnas till utvecklarna på plats. Resultatet av detta arbete är ett fyra lagers mönsterkort som är 25x15 mm och har komponenter på båda sidorna. Alla utom en komponent är testad och fungerar som planerat.Systemet är programmerat för att köra en enkel kod som testar de olika systemen och komponenterna var för sig. För att testa de trådlösa radioöverföringarna skickas en liten radiopuls ut som kan fångas av en mottagare.En första enkel kapsling är gjord för att stoppa in både mönsterkortet och batteriet till en komplett produkt.